|Prescribed Performance Fuzzy Backstepping Control for Nonlinear Large-Scale Systems
Seong-Ik Han and Jang-Myung Lee*
International Journal of Control, Automation, and Systems, vol. 13, no. 6, pp.1508-1520, 2015
Abstract : In this paper, a fuzzy backstepping control (BSC) is proposed in order to design a controller that guarantees a prescribed tracking error performance for nonlinear large-scale systems. A virtual error constraint variable whose basic idea originates from funnel control is defined for the purpose of a constraint variable in the recursive BSC design steps. In addition, an adaptive fuzzy system is considered to compensate for the unknown nonlinear dynamics and differentiated variables of the BSC system, which give rise to a complex controller structure because the repeated differentiation of the virtual control variable is used in the design procedures. Satisfaction of a prescribed performance and boundedness of the overall closed loop signals are evaluated via simulation and experiment.
Keyword : Adaptive fuzzy system, backstepping control, prescribed tracking performance, virtual error constraint variable.